float64 lateral_speed 
float64 beta
float64 yaw_rate
float64 lateral_error
float64 heading_error
float64 speed_gama
float64 kappa
float64 lambda
float64 tire_f_angle_cmd
float64 f_alpha
float64 r_alpha
float64 error_speed
float64 tire_utilization
float64 theta


float64 vy_ref
float64 beta_ref 
float64 yaw_rate_ref
float64 lateral_error_ref
float64 heading_error_ref
float64 speed_gama_ref
float64 f_angle_ref

float64 vx_esti
float64 vy_esti
float64 yaw_rate_esti
float64 e_y_esti
float64 e_heading_esti
float64 acc_x_distur
float64 acc_y_distur
float64 acc_yaw_distur
float64 is_solved
float64 time_to_solve

float64 x
float64 y
float64 s
float64 a_fl
float64 a_fr
float64 a_rl
float64 a_rr

